ComposedPhysicalObject.cpp

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#include "ComposedPhysicalObject.h"
#include "Simulator.h"
#include "purgeContainer.h"
#include <string>

ComposedPhysicalObject::ComposedPhysicalObject(std::string label) :
   PhysicalObject(label){
}

ComposedPhysicalObject::ComposedPhysicalObject(real x, real y, real alpha, std::string label) :
   PhysicalObject(label){
   r.setXY(x,y);
   this->alpha=alpha;
}

ComposedPhysicalObject::~ComposedPhysicalObject(){
   deleteObjects();
}



void ComposedPhysicalObject::addObject(PhysicalObject* object, real x, real y, real alpha){
   object->parent=this;
   object->relativeR.setXY(x,y);
   object->relativeAlpha=alpha;
   object->label=label+": "+object->label;
   objects.push_back(object);
   computeMassProperties();
}

void ComposedPhysicalObject::deleteObjects(){
   purgeContainer(objects);   
}


void ComposedPhysicalObject::computeMassProperties(){
   Vector2 v;
   PhysicalObject* object;
   m=0;
   I=0;
   s.setToZero();
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
                              end=objects.end(); it!=end; ++it){
      object=*it;
      assert(object);
      m+=object->m;     //add member object mass to total mass
      v=object->relativeR;//position of the member object relative to the composed object
      I+=object->m*v.getSquaredModule()+object->I;
      v*=object->m;     
      s+=v;
   }
   s/=m;
}

void ComposedPhysicalObject::computeMemberPositions(){
   Vector2 v;
   PhysicalObject* object;
   boxMin.setXY(ThyrixParameters::infinity,ThyrixParameters::infinity);
   boxMax.setXY(-ThyrixParameters::infinity,-ThyrixParameters::infinity);
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
                              end=objects.end(); it!=end; ++it){
      object=*it;
      v=object->relativeR; //the position relative to the ORS
      v.rotate(alpha);
      v+=r;             //add the position of ORS relative to LRS
      object->rOld=object->r;
      object->r=v;      //update the position of member object relative to LRS
      object->alphaOld=object->alpha;
      object->alpha=alpha+object->relativeAlpha;
      object->computeBox();
      boxMin.updateMin(object->boxMin);
      boxMax.updateMax(object->boxMax);
   }
}

void ComposedPhysicalObject::registerPrimitives(Simulator* simulator){
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
            end=objects.end(); it!=end; ++it) {
      simulator->registerPrimitive(*it);
  }
}

bool ComposedPhysicalObject::detectContacts(PhysicalObject* object, GlobalContactInfoVector* contacts) {
   bool isContact=false;
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
                                                      end=objects.end(); it!=end; ++it)
      isContact = (*it)->detectContacts(object, contacts) || isContact;
   return isContact;
}

bool ComposedPhysicalObject::detectMouseContact(const Vector2& rMouse, Vector2& p, PhysicalObject*& object){
   bool isContact=false;
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
         end=objects.end(); it!=end && !isContact; ++it){
         isContact = (*it)->detectMouseContact(rMouse, p, object);
         if (isContact){
            p.rotate(-relativeAlpha);
            p+=(*it)->relativeR; //p is now relative to the origin of the composed object
            object=this;
         }
      }
   return isContact;
}

void ComposedPhysicalObject::setSensors(){
   ContactInfo* current;
   for(ContactInfoPVector::iterator it=contacts.begin(), end=contacts.end();
        it!=end;++it){
      current=*it;
      if(current->iSensor>=0){
         current->object->setSensor(current);
      }
   }
}

void ComposedPhysicalObject::resetSensors(){
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
            end=objects.end(); it!=end; ++it) {
      (*it)->resetSensors();
  }
}

void ComposedPhysicalObject::draw(GUI *gui){
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
            end=objects.end(); it!=end; ++it) {
      (*it)->draw(gui);
   }
   //drawContactForces(gui);
}

void ComposedPhysicalObject::setOutlineColor(Color color){
   outlineColor=color;
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
            end=objects.end(); it!=end; ++it) {
      (*it)->setOutlineColor(color);
   }
}

void ComposedPhysicalObject::setFillColor(Color color){
   fillColor=color;
   for(PhysicalObjectPVector::iterator it=objects.begin(), 
            end=objects.end(); it!=end; ++it) {
      (*it)->setFillColor(color);
   }
}

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